Driver camera view when in reverse

Added toggle to show the driver camera when in the reverse gear.

selfdrive/ui/qt/onroad.cc

@@ -221,7 +221,7 @@ void OnroadAlerts::updateAlert(const Alert &a) {
 }
 
 void OnroadAlerts::paintEvent(QPaintEvent *event) {
-  if (alert.size == cereal::ControlsState::AlertSize::NONE) {
+  if (alert.size == cereal::ControlsState::AlertSize::NONE || scene.show_driver_camera) {
     return;
   }
   static std::map<cereal::ControlsState::AlertSize, const int> alert_heights = {
@@ -337,7 +337,9 @@ void ExperimentalButton::paintEvent(QPaintEvent *event) {
       (scene.always_on_lateral_active ? QColor(10, 186, 181, 255) :
       QColor(0, 0, 0, 166));
 
-  drawIcon(p, QPoint(btn_size / 2, btn_size / 2 + y_offset), img, background_color, (isDown() || (!engageable && !scene.always_on_lateral_active)) ? 0.6 : 1.0);
+  if (!scene.show_driver_camera) {
+    drawIcon(p, QPoint(btn_size / 2, btn_size / 2 + y_offset), img, background_color, (isDown() || (!engageable && !scene.always_on_lateral_active)) ? 0.6 : 1.0);
+  }
 }
 
 
@@ -409,7 +411,7 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
   has_eu_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA);
   is_metric = s.scene.is_metric;
   speedUnit =  s.scene.is_metric ? tr("km/h") : tr("mph");
-  hideBottomIcons = (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE || customSignals && (turnSignalLeft || turnSignalRight));
+  hideBottomIcons = (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE || customSignals && (turnSignalLeft || turnSignalRight)) || showDriverCamera;
   status = s.status;
 
   // update engageability/experimental mode button
@@ -904,7 +906,7 @@ void AnnotatedCameraWidget::paintGL() {
       wide_cam_requested = wide_cam_requested && s->scene.calibration_wide_valid;
     }
     paramsMemory.putBoolNonBlocking("WideCamera", wide_cam_requested);
-    CameraWidget::setStreamType(cameraView == 3 ? VISION_STREAM_DRIVER :
+    CameraWidget::setStreamType(showDriverCamera || cameraView == 3 ? VISION_STREAM_DRIVER :
                                 wide_cam_requested && cameraView != 1 ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD);
 
     s->scene.wide_cam = CameraWidget::getStreamType() == VISION_STREAM_WIDE_ROAD;
@@ -922,7 +924,7 @@ void AnnotatedCameraWidget::paintGL() {
   painter.setRenderHint(QPainter::Antialiasing);
   painter.setPen(Qt::NoPen);
 
-  if (s->scene.world_objects_visible) {
+  if (s->scene.world_objects_visible && !showDriverCamera) {
     update_model(s, model, sm["uiPlan"].getUiPlan());
     drawLaneLines(painter, s);
 
@@ -1027,26 +1029,29 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets(QPainter &p) {
   mapOpen = scene.map_open;
   obstacleDistance = scene.obstacle_distance;
   obstacleDistanceStock = scene.obstacle_distance_stock;
+  showDriverCamera = scene.show_driver_camera;
   stoppedEquivalence = scene.stopped_equivalence;
   turnSignalLeft = scene.turn_signal_left;
   turnSignalRight = scene.turn_signal_right;
   useSI = scene.use_si;
 
-  if (leadInfo) {
-    drawLeadInfo(p);
-  }
-
-  if (alwaysOnLateral || conditionalExperimental) {
-    drawStatusBar(p);
-  }
-
-  if (customSignals && (turnSignalLeft || turnSignalRight)) {
-    if (!animationTimer->isActive()) {
-      animationTimer->start(totalFrames * 11);  // 440 milliseconds per loop; syncs up perfectly with my 2019 Lexus ES 350 turn signal clicks
+  if (!showDriverCamera) {
+    if (leadInfo) {
+      drawLeadInfo(p);
+    }
+
+    if (alwaysOnLateral || conditionalExperimental) {
+      drawStatusBar(p);
+    }
+
+    if (customSignals && (turnSignalLeft || turnSignalRight)) {
+      if (!animationTimer->isActive()) {
+        animationTimer->start(totalFrames * 11);  // 440 milliseconds per loop; syncs up perfectly with my 2019 Lexus ES 350 turn signal clicks
+      }
+      drawTurnSignals(p);
+    } else if (animationTimer->isActive()) {
+      animationTimer->stop();
     }
-    drawTurnSignals(p);
-  } else if (animationTimer->isActive()) {
-    animationTimer->stop();
   }
 
   map_settings_btn_bottom->setEnabled(map_settings_btn->isEnabled());

selfdrive/ui/qt/onroad.h

@@ -135,6 +135,7 @@ private:
   bool experimentalMode;
   bool leadInfo;
   bool mapOpen;
+  bool showDriverCamera;
   bool turnSignalLeft;
   bool turnSignalRight;
   bool useSI;

selfdrive/ui/qt/widgets/cameraview.cc

@@ -217,6 +217,7 @@ void CameraWidget::updateFrameMat() {
     if (active_stream_type == VISION_STREAM_DRIVER) {
       if (stream_width > 0 && stream_height > 0) {
         frame_mat = get_driver_view_transform(w, h, stream_width, stream_height);
+        frame_mat.v[0] *= -1.0;
       }
     } else {
       // Project point at "infinity" to compute x and y offsets

selfdrive/ui/ui.cc

@@ -222,6 +222,9 @@ static void update_state(UIState *s) {
       scene.turn_signal_left = carState.getLeftBlinker();
       scene.turn_signal_right = carState.getRightBlinker();
     }
+    if (scene.driver_camera) {
+      scene.show_driver_camera = carState.getGearShifter() == cereal::CarState::GearShifter::REVERSE;
+    }
   }
   if (sm.updated("controlsState")) {
     auto controlsState = sm["controlsState"].getControlsState();
@@ -301,6 +304,7 @@ void ui_update_params(UIState *s) {
   scene.road_edge_width = params.getInt("RoadEdgesWidth") * (scene.is_metric ? 1 : INCH_TO_CM) / 200;
   scene.unlimited_road_ui_length = scene.model_ui && params.getBool("UnlimitedLength");
 
+  scene.driver_camera = params.getBool("DriverCamera");
   scene.screen_brightness = params.getInt("ScreenBrightness");
   scene.wheel_icon = params.getInt("WheelIcon");
 }

selfdrive/ui/ui.h

@@ -179,11 +179,13 @@ typedef struct UIScene {
   bool conditional_experimental;
   bool custom_onroad_ui;
   bool custom_theme;
+  bool driver_camera;
   bool enabled;
   bool experimental_mode;
   bool lead_info;
   bool map_open;
   bool model_ui;
+  bool show_driver_camera;
   bool show_fps;
   bool turn_signal_left;
   bool turn_signal_right;